@Override public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { linearGroundContactModel.setZStiffness(1500.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(25000.0); linearGroundContactModel.setXYDamping(750.0); } }
@Override public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { linearGroundContactModel.setZStiffness(1500.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(25000.0); linearGroundContactModel.setXYDamping(750.0); } }
public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel, double simDT) { // The gains were computed for simDT = 0.0001sec. This assumes that the gains should be inversely proportional to the simulation DT. double simDTRef = 0.0001; if (useSoftGroundContactParameters) { double scale = Math.pow(simDTRef / simDT, 0.25); linearGroundContactModel.setZStiffness(4000.0 * scale); linearGroundContactModel.setZDamping(750.0 * scale); linearGroundContactModel.setXYStiffness(50000.0 * scale); linearGroundContactModel.setXYDamping(1000.0 * scale); } else { double scale = Math.pow(simDTRef / simDT, 0.6); linearGroundContactModel.setZStiffness(2000.0 * scale); linearGroundContactModel.setZDamping(1500.0 * scale); linearGroundContactModel.setXYStiffness(50000.0 * scale); linearGroundContactModel.setXYDamping(2000.0 * scale); } }
public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { if (useSoftGroundContactParameters) { linearGroundContactModel.setZStiffness(4000.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(50000.0); linearGroundContactModel.setXYDamping(1000.0); } else { linearGroundContactModel.setZStiffness(2000.0); linearGroundContactModel.setZDamping(1500.0); linearGroundContactModel.setXYStiffness(50000.0); linearGroundContactModel.setXYDamping(2000.0); } }
groundContactModel.setZDamping(groundContactParameters.get().getZDamping()); groundContactModel.setXYStiffness(groundContactParameters.get().getXYStiffness()); groundContactModel.setXYDamping(groundContactParameters.get().getXYDamping());